IEEE - Institute of Electrical and Electronics Engineers, Inc. - PDAC-based underactuated 3D bipedal walking - Stabilization of PDAC constants and walking direction control -

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Aoyama, T. ; Sekiyama, K. ; Hasegawa, Y. ; Fukuda, T.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 1,565 - 1,570
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152455
Regular:

This paper proposes a three-dimensional biped dynamic walking algorithm based on Passive Dynamic Autonomous Control (PDAC) which is previously proposed. The robot dynamics is modeled as an... View More

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